#include <PIDDrone.h>

Inheritance diagram for APIDDrone:

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Collaboration diagram for APIDDrone:

[legend]

Public Member Functions
	APIDDrone ()

virtual EVehicleTypes	GetVehicleType () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

void	SetDroneAction (EDroneAction mode)
	Set drone's action (roaming, manual) More...

EDroneAction	GetDroneAction ()
	Get drone's action (roaming, manual) More...

FDroneParameters	GetDroneParameters ()

void	ChangeDroneParameters (const FDroneParameters &newParameters)

void	SetDroneParameters (const FDroneParameters &InParameters)

void	AddWayPoint (FVector waypoint)

void	ClearWaypoints ()

void	FlySetFlightpath ()
	Called in tick function for drone roaming through points. More...

void	SetManualControl (bool value)

void	MoveDroneToPosition (const FTransform Transform)
	Override all drone roaming points and continue towards this position. More...

TArray< FTransform >	GenerateRoamingPoints (float radius, int roamingPoints)
	Generates a roadming points array for the drone in radius. More...

Public Member Functions inherited from AVehicle
	AVehicle ()

virtual EVehicleTypes	GetVehicleType () const

virtual FString	GetTopicName ()

void	TogglePhysics (bool isOn)

void	TeleportVehicleTo (FVector NewLocation, FRotator NewRotation)

virtual void	TeleportVehicleTo_Implementation (FVector NewLocation, FRotator NewRotation)

void	ResetCamera ()

void	ToggleLights (bool isOn)

void	SetVisualizeVehicleOverlapArea (bool Visible)

FString	ExportToJsonFile (const FString &FileName)

void	SetVehicleIsInGarage (bool VehicleIsInGarage)

bool	IsVehicleInGarage () const

USensorsManagerComponent *	GetSensorsManager () const

ACollisionSensor *	GetCollisionSensor () const

ATransformSensor *	GetTransformSensor () const

AOverlapSensor *	GetOverlapSensor () const

FTransform	GetMovedFromGarageTransform () const

void	SetCurrentTransformToMovedFromGarageTransform ()

virtual FText	GetInteractableName_Implementation () const override

virtual FTransform	GetInteractableWorldTransform_Implementation () const override

virtual FString	GetActorID_Implementation () const override

virtual FString	GetActorName_Implementation () const override

virtual FString	GetActorInformation_Implementation () const override

virtual void	SetActorName_Implementation (const FString &NewActorName) override

virtual void	SetActorIDAndName_Implementation (const FString &NewActorName, const FString &NewID) override

virtual void	PossessedBy (AController *NewController) override

Public Member Functions inherited from IInteractable
FText	GetInteractableName () const

FTransform	GetInteractableWorldTransform () const

Public Member Functions inherited from IActorInformation
FString	GetActorID () const

FString	GetActorName () const

FString	GetActorInformation () const

void	SetActorName (const FString &NewActorName)

void	SetActorIDAndName (const FString &NewActorName, const FString &NewID)

Public Attributes
bool	manualControl = false

Public Attributes inherited from AVehicle
FText	InteractableName

FVehicleGarageChangedDelegate	OnVehicleGarageChanged

Protected Member Functions
FVector	GetCurrentWaypointTarget ()

void	SetDesiredLocationMesh (UStaticMeshComponent *meshcomponent)

void	AssignRoamingPoints (TArray< FTransform > Points)

void	SetDroneRotation (USkeletalMeshComponent *target, FRotator rotator)

virtual void	BeginPlay () override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

Protected Attributes
FDroneParameters	DroneParameters

Protected Attributes inherited from AVehicle
TObjectPtr< USensorsManagerComponent >	SensorsManager

ACollisionSensor *	CollisionSensor = nullptr

ATransformSensor *	TransformSensor = nullptr

AOverlapSensor *	OverlapSensor = nullptr

UNiagaraComponent *	NiagaraComponent = nullptr

FString	ActorName

FString	ActorID

FTransform	OriginalCameraTransform

Private Member Functions
virtual void	BeginPlay () override

virtual void	Tick (float DeltaTime) override

virtual void	EndPlay (const EEndPlayReason::Type EndPlayReason) override

void	AutoPilot (float DeltaTime)

bool	isRoaming ()

Private Attributes
EFlightMode	flightmode = EFlightMode::Roaming

UWorld *	World = nullptr

FVector	StartingPosition

USkeletalMeshComponent *	mesh = nullptr

UStaticMeshComponent *	desiredPositionMesh = nullptr

bool	bRosConnected = false

bool	waypointreached = false

TArray< FVector >	WayPoints

int	passedWaypoints = 0

Additional Inherited Members
Static Public Member Functions inherited from IActorInformation
static void	SetAndValidateActorIDAndName (FString &ActorName, FString &ActorID, TWeakObjectPtr< AActor > Actor)

static bool	DestroyActorByID (const FString &ID)

static AActor *	GetActorByID (const FString &ID)

template<typename T >
static TArray< T * >	GetActorsWithInterface ()

static void	PrintAllIds ()

Detailed Description

Definition at line 17 of file PIDDrone.h.

Constructor & Destructor Documentation

◆ APIDDrone()

APIDDrone::APIDDrone ( )

Definition at line 18 of file PIDDrone.cpp.

                     : Super()
{
    PrimaryActorTick.bCanEverTick = true;
    InteractableName = NSLOCTEXT("Agrarsense", "DroneInteractableName", "Drone");
}

References AVehicle::InteractableName.

Member Function Documentation

◆ AddWayPoint()

void APIDDrone::AddWayPoint ( FVector waypoint )

inline

Definition at line 81 of file PIDDrone.h.

    {
        FTransform transform;
        transform.SetLocation(waypoint);
 
        DroneParameters.Points.Add(transform);
    }

References FDroneParameters::Points.

◆ AssignRoamingPoints()

void APIDDrone::AssignRoamingPoints ( TArray< FTransform > Points )

inlineprotected

Definition at line 172 of file PIDDrone.h.

    {
        // Empty current waypoints if any
        ClearWaypoints();
 
        for (FTransform point : Points)
        {
            // Assing new waypoints to the array
            WayPoints.Add(point.GetLocation());
        }
    };

◆ AutoPilot()

void APIDDrone::AutoPilot ( float DeltaTime )

private

Definition at line 198 of file PIDDrone.cpp.

{
    if (isRoaming())
    {
        FlySetFlightpath();
    }
}

References FlySetFlightpath(), and isRoaming().

Referenced by Tick().

◆ BeginPlay()

void APIDDrone::BeginPlay ( )

overrideprivatevirtual

Reimplemented from AVehicle.

Definition at line 24 of file PIDDrone.cpp.

{
    Super::BeginPlay();
 
    World = GetWorld();
 
    mesh = Cast<USkeletalMeshComponent>(GetComponentByClass(USkeletalMeshComponent::StaticClass()));
    desiredPositionMesh = Cast<UStaticMeshComponent>(GetComponentByClass(UStaticMeshComponent::StaticClass()));
 
    StartingPosition = GetActorLocation();
}

References desiredPositionMesh, mesh, StartingPosition, and World.

◆ ChangeDroneParameters()

void APIDDrone::ChangeDroneParameters ( const FDroneParameters & newParameters )

inline

Definition at line 69 of file PIDDrone.h.

    {
        UE_LOG(LogTemp, Warning, TEXT("Parameters Chnaged!"));
        SetDroneParameters(newParameters);
    }

Referenced by USimulatorJsonParser::ParseAndSetDroneParameters().

◆ ClearWaypoints()

void APIDDrone::ClearWaypoints ( )

inline

Definition at line 90 of file PIDDrone.h.

    {
        DroneParameters.Points.Empty();
    }

◆ EndPlay()

void APIDDrone::EndPlay ( const EEndPlayReason::Type EndPlayReason )

overrideprivatevirtual

Reimplemented from AVehicle.

Definition at line 36 of file PIDDrone.cpp.

{
    Super::EndPlay(EndPlayReason);
}

◆ FlySetFlightpath()

void APIDDrone::FlySetFlightpath ( )

Called in tick function for drone roaming through points.

Definition at line 51 of file PIDDrone.cpp.

{
    // TODO: Check if in garage
    // include drone rotation to point
 
    // Don't try to fly if no waypoints
    if (DroneParameters.Points.Num() == 0)
    {
        DroneParameters.Points = GenerateRoamingPoints(50000, 10);
    }
 
    FVector waypoint = GetCurrentWaypointTarget();
    FVector currentlocation = mesh->GetRelativeTransform().GetLocation();
 
    if (desiredPositionMesh)
    {
        // Doesn't work
        desiredPositionMesh->SetWorldLocation(waypoint);
    }
#if WITH_EDITOR
    else
    {
        UE_LOG(LogTemp, Warning, TEXT("Desired location mesh not found"));
        //DrawDebugLine(World, currentlocation, waypoint, FColor::Red, false, 0.0f, 0.0f, 5.0f);
    }
#endif
 
    if (FVector2f::Distance(FVector2f(waypoint.X, waypoint.Y), FVector2f(currentlocation.X, currentlocation.Y)) < 1000)
    {
        waypointreached = true;
        if (passedWaypoints != DroneParameters.Points.Num() - 1)
        {
#if WITH_EDITOR
            UE_LOG(LogTemp, Warning, TEXT("Changing waypoint from %i to %i"), passedWaypoints, passedWaypoints + 1);
#endif
 
            passedWaypoints++;
        }
        else
        {
            if (DroneParameters.DroneAction == EDroneAction::Roaming)
            {
                DroneParameters.Points = GenerateRoamingPoints(50000, 10);
                passedWaypoints = 0;
            }
            else
            {
                switch (DroneParameters.DroneEndAction)
                {
                case EDroneEndAction::Stop:
                    DroneParameters.DroneAction = EDroneAction::Stationary;
                    break;
                case EDroneEndAction::GenerateRandomNew:
                    DroneParameters.Points = GenerateRoamingPoints(50000, 10);
                    passedWaypoints = 0;
                    break;
                default:
                    break;
                }
            }
        }
    }
}

References desiredPositionMesh, FDroneParameters::DroneAction, FDroneParameters::DroneEndAction, DroneParameters, GenerateRandomNew, GenerateRoamingPoints(), GetCurrentWaypointTarget(), mesh, passedWaypoints, FDroneParameters::Points, Roaming, Stationary, Stop, and waypointreached.

Referenced by AutoPilot().

◆ GenerateRoamingPoints()

TArray< FTransform > APIDDrone::GenerateRoamingPoints	(	float	radius,
		int	roamingPoints
	)

Generates a roadming points array for the drone in radius.

Parameters

radius radius of the roaming area

Returns: TArray<FVector>

Definition at line 174 of file PIDDrone.cpp.

{
    TArray<FTransform> generatedRoamingPoints;
    generatedRoamingPoints.Reserve(roamingPoints);
 
    FVector currentPosition = this->GetTransform().GetLocation();
 
    FVector min = currentPosition - FVector(radius / 2, radius / 2, 0);
    FVector max = currentPosition + FVector(radius / 2, radius / 2, 0);
 
    for (int32 i = 0; i < roamingPoints; i++)
    {
        FTransform randomPoint;
        randomPoint.SetLocation(FVector(FMath::RandRange(min.X, max.X), FMath::RandRange(min.Y, max.Y), 5000));
 
        generatedRoamingPoints.Add(randomPoint);
#if WITH_EDITOR
        UE_LOG(LogTemp, Warning, TEXT("Waypoint %i: (%s)"), i, *randomPoint.GetLocation().ToString());
#endif
    }
 
    return generatedRoamingPoints;
}

Referenced by FlySetFlightpath().

◆ GetCurrentWaypointTarget()

FVector APIDDrone::GetCurrentWaypointTarget ( )

protected

Definition at line 128 of file PIDDrone.cpp.

{
    // UE_LOG(LogTemp, Warning, TEXT(" % s"), *DroneParameters.Points[passedWaypoints].GetLocation().ToString());
    if (DroneParameters.Points.Num() <= passedWaypoints)
    {
        return FVector(0, 0, 0);
    }
 
    return DroneParameters.Points[passedWaypoints].GetLocation();
}

References DroneParameters, passedWaypoints, and FDroneParameters::Points.

Referenced by FlySetFlightpath().

◆ GetDroneAction()

EDroneAction APIDDrone::GetDroneAction ( )

inline

Get drone's action (roaming, manual)

Returns: Drone's action

Definition at line 57 of file PIDDrone.h.

    {
        return DroneParameters.DroneAction;
    }

◆ GetDroneParameters()

FDroneParameters APIDDrone::GetDroneParameters ( )

inline

Definition at line 63 of file PIDDrone.h.

    {
        return DroneParameters;
    }

Referenced by USimulatorJsonExporter::SetDroneParameters().

◆ GetInteractableWorldTransform_Implementation()

virtual FTransform APIDDrone::GetInteractableWorldTransform_Implementation ( ) const

inlineoverridevirtual

Reimplemented from AVehicle.

Definition at line 31 of file PIDDrone.h.

    {
        if (mesh)
        {
            return mesh->GetComponentTransform();
        }
        else
        {
            return GetActorTransform();
        }
    }

◆ GetVehicleType()

virtual EVehicleTypes APIDDrone::GetVehicleType ( ) const

inlineoverridevirtual

Get type of the Vehicle

Returns: Vehicle's type

Reimplemented from AVehicle.

Definition at line 29 of file PIDDrone.h.

29{ return EVehicleTypes::Drone; }

EVehicleTypes::Drone

@ Drone

References Drone.

◆ isRoaming()

bool APIDDrone::isRoaming ( )

inlineprivate

Definition at line 152 of file PIDDrone.h.

    {
        return DroneParameters.DroneAction == EDroneAction::Roaming;
    }

References Roaming.

Referenced by AutoPilot().

◆ MoveDroneToPosition()

void APIDDrone::MoveDroneToPosition ( const FTransform Transform )

Override all drone roaming points and continue towards this position.

Parameters

Transform drone move position

Definition at line 115 of file PIDDrone.cpp.

{
    if (DroneParameters.Points.Num() > 0)
    {
        DroneParameters.Points.Empty();
        DroneParameters.Points.Add(Transform);
    }
    else
    {
        DroneParameters.Points.Add(Transform);
    }
}

References DroneParameters, FDroneParameters::Points, and Transform.

◆ SetDesiredLocationMesh()

void APIDDrone::SetDesiredLocationMesh ( UStaticMeshComponent * meshcomponent )

inlineprotected

Definition at line 167 of file PIDDrone.h.

                                                                     {
        desiredPositionMesh = meshcomponent;
    }

◆ SetDroneAction()

void APIDDrone::SetDroneAction ( EDroneAction mode )

inline

Set drone's action (roaming, manual)

Definition at line 47 of file PIDDrone.h.

    {
        DroneParameters.DroneAction = mode;
    }

◆ SetDroneParameters()

void APIDDrone::SetDroneParameters ( const FDroneParameters & InParameters )

inline

Definition at line 75 of file PIDDrone.h.

    {
        DroneParameters = InParameters;
    }

◆ SetDroneRotation()

void APIDDrone::SetDroneRotation	(	USkeletalMeshComponent *	target,
		FRotator	rotator
	)

protected

Definition at line 139 of file PIDDrone.cpp.

{
    if (!target)
    {
        return;
    }
 
    FRotator rotation = FRotator(
        FMath::Clamp(rotator.Pitch, -2, 2),
        FMath::Clamp(rotator.Yaw, -2, 2),
        FMath::Clamp(rotator.Roll, -2, 2));
 
    FRotator currentRotation = target->GetRelativeRotation();
 
    FRotator rotationDifference = currentRotation - rotator;
 
    if (FMath::Abs(rotator.Pitch) > 0 && FMath::Abs(currentRotation.Pitch) < FMath::Abs(rotationDifference.Pitch))
    {
        target->AddRelativeRotation(FRotator(rotation.Pitch, 0, 0), false, nullptr, ETeleportType::TeleportPhysics);
    }
    if (FMath::Abs(rotator.Yaw) > 0 && FMath::Abs(currentRotation.Yaw) < FMath::Abs(rotationDifference.Yaw))
    {
        target->AddRelativeRotation(FRotator(0, rotation.Yaw, 0), false, nullptr, ETeleportType::TeleportPhysics);
    }
    if (FMath::Abs(rotator.Roll) > 0 && FMath::Abs(currentRotation.Roll) < FMath::Abs(rotationDifference.Roll))
    {
        target->AddRelativeRotation(FRotator(0, 0, rotation.Roll), false, nullptr, ETeleportType::TeleportPhysics);
    }
 
    if (rotator.Pitch == 0 || rotator.Yaw == 0 || rotator.Roll == 0)
    {
        target->AddRelativeRotation(FRotator(-FMath::Clamp(rotationDifference.Pitch, -2, 2), -FMath::Clamp(rotationDifference.Yaw, -2, 2), -FMath::Clamp(rotationDifference.Roll, -2, 2)), false, nullptr, ETeleportType::TeleportPhysics);
    }
}

◆ SetManualControl()

void APIDDrone::SetManualControl ( bool value )

inline

Definition at line 102 of file PIDDrone.h.

                                      {
        manualControl = value;
    }

◆ Tick()

void APIDDrone::Tick ( float DeltaTime )

overrideprivatevirtual

Definition at line 41 of file PIDDrone.cpp.

{
    Super::Tick(DeltaTime);
 
    if (!IsVehicleInGarage())
    {
        AutoPilot(DeltaTime);
    }
}

References AutoPilot(), and AVehicle::IsVehicleInGarage().

Member Data Documentation

◆ bRosConnected

bool APIDDrone::bRosConnected = false

private

Definition at line 143 of file PIDDrone.h.

◆ desiredPositionMesh

UStaticMeshComponent* APIDDrone::desiredPositionMesh = nullptr

private

Definition at line 141 of file PIDDrone.h.

Referenced by BeginPlay(), and FlySetFlightpath().

◆ DroneParameters

FDroneParameters APIDDrone::DroneParameters

protected

Definition at line 161 of file PIDDrone.h.

Referenced by FlySetFlightpath(), GetCurrentWaypointTarget(), and MoveDroneToPosition().

◆ flightmode

EFlightMode APIDDrone::flightmode = EFlightMode::Roaming

private

Definition at line 133 of file PIDDrone.h.

◆ manualControl

bool APIDDrone::manualControl = false

Definition at line 120 of file PIDDrone.h.

◆ mesh

USkeletalMeshComponent* APIDDrone::mesh = nullptr

private

Definition at line 140 of file PIDDrone.h.

Referenced by BeginPlay(), and FlySetFlightpath().

◆ passedWaypoints

int APIDDrone::passedWaypoints = 0

private

Definition at line 157 of file PIDDrone.h.

Referenced by FlySetFlightpath(), and GetCurrentWaypointTarget().

◆ StartingPosition

FVector APIDDrone::StartingPosition

private

Definition at line 138 of file PIDDrone.h.

Referenced by BeginPlay().

◆ waypointreached

bool APIDDrone::waypointreached = false

private

Definition at line 144 of file PIDDrone.h.

Referenced by FlySetFlightpath().

◆ WayPoints

TArray<FVector> APIDDrone::WayPoints

private

Initial value:

= {
        {3790, 8050, 5000},
        {11779.536955,6566.541435,5000}
    }

Definition at line 147 of file PIDDrone.h.

◆ World

UWorld* APIDDrone::World = nullptr

private

Definition at line 136 of file PIDDrone.h.

Referenced by BeginPlay().

The documentation for this class was generated from the following files:

Unreal/Agrarsense/Source/Agrarsense/Vehicle/PIDDrone.h
Unreal/Agrarsense/Source/Agrarsense/Vehicle/PIDDrone.cpp

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ APIDDrone()

Member Function Documentation

◆ AddWayPoint()

◆ AssignRoamingPoints()

◆ AutoPilot()

◆ BeginPlay()

◆ ChangeDroneParameters()

◆ ClearWaypoints()

◆ EndPlay()

◆ FlySetFlightpath()

◆ GenerateRoamingPoints()

◆ GetCurrentWaypointTarget()

◆ GetDroneAction()

◆ GetDroneParameters()

◆ GetInteractableWorldTransform_Implementation()

◆ GetVehicleType()

◆ isRoaming()

◆ MoveDroneToPosition()

◆ SetDesiredLocationMesh()

◆ SetDroneAction()

◆ SetDroneParameters()

◆ SetDroneRotation()

◆ SetManualControl()

◆ Tick()

Member Data Documentation

◆ bRosConnected

◆ desiredPositionMesh

◆ DroneParameters

◆ flightmode

◆ manualControl

◆ mesh

◆ passedWaypoints

◆ StartingPosition

◆ waypointreached

◆ WayPoints

◆ World